diff options
Diffstat (limited to 'apps/hott_telemetry/messages.c')
| -rw-r--r-- | apps/hott_telemetry/messages.c | 10 |
1 files changed, 9 insertions, 1 deletions
diff --git a/apps/hott_telemetry/messages.c b/apps/hott_telemetry/messages.c index dce16f371..8bfb99773 100644 --- a/apps/hott_telemetry/messages.c +++ b/apps/hott_telemetry/messages.c @@ -42,12 +42,15 @@ #include <string.h> #include <systemlib/systemlib.h> #include <unistd.h> +#include <uORB/topics/battery_status.h> #include <uORB/topics/sensor_combined.h> +static int battery_sub = -1; static int sensor_sub = -1; void messages_init(void) { + battery_sub = orb_subscribe(ORB_ID(battery_status)); sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); } @@ -58,6 +61,11 @@ void build_eam_response(uint8_t *buffer, int *size) memset(&raw, 0, sizeof(raw)); orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); + /* get a local copy of the battery data */ + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); + orb_copy(ORB_ID(battery_status), battery_sub, &battery); + struct eam_module_msg msg; *size = sizeof(msg); memset(&msg, 0, *size); @@ -67,7 +75,7 @@ void build_eam_response(uint8_t *buffer, int *size) msg.sensor_id = EAM_SENSOR_ID; msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20); msg.temperature2 = TEMP_ZERO_CELSIUS; - msg.main_voltage_L = (uint8_t)(raw.battery_voltage_v * 10); + msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10); uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500); msg.altitude_L = (uint8_t)alt & 0xff; |